Geometry resolution importing from URDF
Posted: Thu Feb 01, 2018 10:51 am
I am importing a simple model made out of a box and two cylinders from URDF. When I import the cylinders are visibly jagged (low resolution geometry).
While I am not so much interested in the visual appearance, I can imagine that this also affects collision.
Question is, how can I increase the resolution of *collision* geometry when importing? Is it a URDF thing or pybullet?
Thank you.
Partial URDF is below:
While I am not so much interested in the visual appearance, I can imagine that this also affects collision.
Question is, how can I increase the resolution of *collision* geometry when importing? Is it a URDF thing or pybullet?
Thank you.
Partial URDF is below:
Code: Select all
<link name="l_wheel">
<visual>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<origin rpy="0 1.5707963 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<origin rpy="0 1.5707963 0" xyz="0 0 0"/>
<contact_coefficients mu="0.8" />
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>